This platform is developed and maintained by University of Győr - Vehicle Research Center in cooperation with ZalaZONE Innovation Park. The project is supported by Robert Bosch Engineering Center Budapest.
Our mission: to provide end-to-end vehicle control solutions to cover multiple driving scenarios, special focus on use-cases defined by industrial needs, utilizing cutting edge solution in terms communication, sensing, planning and control.
The platform is designed to be independent from any vehicle platform but providing a so called vehicle integration layer to adapt external signals to the controller based software components.
We use ROS2 as middle-ware.
---
title: Vehicle_Integration_Layer
---
graph LR
CAN_Driver_Left[CAN<br>driver]:::light
Sensor_Driver1[Sensor<br>driver 1]:::light
Sensor_Driver2[Sensor<br>driver 2]:::light
CAN_Driver_Right[CAN<br>driver]:::light
CAN_Driver_Left ---> Sensor_Abstraction
Sensor_Driver1 ---> Sensor_Abstraction
Sensor_Driver2 ---> Sensor_Abstraction
subgraph Controller_Integration_Layer
direction TB
Configuration[Configuration]:::dark
Sensor_Abstraction[Sensor<br>abstraction]:::dark
Actuator_Abstraction[Actuator<br>abstraction]:::dark
Sensor_Abstraction --> Topic_Handler1
Configuration -.-> Sensor_Abstraction
Topic_Handler2 --> Actuator_Abstraction
subgraph Application_Layer
Topic_Handler1[Topic<br>handler]:::white
Function_Code[Function<br>Code]:::white
Topic_Handler2[Topic<br>handler]:::white
Topic_Handler1 --> Function_Code
Function_Code --> Topic_Handler2
end
end
Actuator_Abstraction --> CAN_Driver_Right
classDef light fill:#34aec5,stroke:#152742,stroke-width:2px,color:#152742
classDef dark fill:#152742,stroke:#34aec5,stroke-width:2px,color:#34aec5
classDef white fill:#ffffff,stroke:#152742,stroke-width:2px,color:#152742
classDef red fill:#ef4638,stroke:#152742,stroke-width:2px,color:#fff